Pedestrian detection with lidar technology in smart-city deployments - challenges and recommendations

Torres, Pedro; Marques, Hugo; Marques, Paulo

Publication

Pedestrian detection with lidar technology in smart-city deployments - challenges and recommendations

2023Journal article

dc.contributor.author	Torres, Pedro
dc.contributor.author	Marques, Hugo
dc.contributor.author	Marques, Paulo
dc.date.accessioned	2023-03-22T15:13:49Z
dc.date.available	2023-03-22T15:13:49Z
dc.date.issued	2023
dc.description.abstract	Abstract: This paper describes a real case implementation of an automatic pedestrian-detection solution, implemented in the city of Aveiro, Portugal, using affordable LiDAR technology and open, publicly available, pedestrian-detection frameworks based on machine-learning algorithms. The presented solution makes it possible to anonymously identify pedestrians, and extract associated information such as position, walking velocity and direction in certain areas of interest such as pedestrian crossings or other points of interest in a smart-city context. All data computation (3D point-cloud processing) is performed at edge nodes, consisting of NVIDIA Jetson Nano and Xavier platforms, which ingest 3D point clouds from Velodyne VLP-16 LiDARs. High-performance real-time computation is possible at these edge nodes through CUDA-enabled GPU-accelerated computations. The MQTT protocol is used to interconnect publishers (edge nodes) with consumers (the smartcity platform). The results show that using currently affordable LiDAR sensors in a smart-city context, despite the advertising characteristics referring to having a range of up to 100 m, presents great challenges for the automatic detection of objects at these distances. The authors were able to efficiently detect pedestrians up to 15 m away, depending on the sensor height and tilt. Based on the implementation challenges, the authors present usage recommendations to get the most out of the used technologies.	pt_PT
dc.description.version	info:eu-repo/semantics/publishedVersion	pt_PT
dc.identifier.citation	TORRES, Pedro, MARQUES, Hugo, MARQUES, Paulo (2023) - Pedestrian detection with lidar technology in smart-city deployments - challenges and recommendations. ISSN 2073-431X. Vol.12, p.3-16.	pt_PT
dc.identifier.doi	https://doi.org/10.3390/computers12030065	pt_PT
dc.identifier.issn	2073-431X
dc.identifier.uri	http://hdl.handle.net/10400.11/8434
dc.language.iso	eng	pt_PT
dc.peerreviewed	yes	pt_PT
dc.publisher	Cumputers - MDPI	pt_PT
dc.rights.uri	http://creativecommons.org/licenses/by/4.0/	pt_PT
dc.subject	Pedestrian detection	pt_PT
dc.subject	Lidar	pt_PT
dc.subject	3D point clouds	pt_PT
dc.subject	ROS	pt_PT
dc.subject	Smart cities	pt_PT
dc.subject	Traffic mobility	pt_PT
dc.title	Pedestrian detection with lidar technology in smart-city deployments - challenges and recommendations	pt_PT
dc.type	journal article
dspace.entity.type	Publication
oaire.citation.endPage	16	pt_PT
oaire.citation.startPage	3	pt_PT
oaire.citation.volume	Vol 12	pt_PT
person.familyName	BAPTISTA TORRES
person.familyName	Marques
person.familyName	Marques
person.givenName	PEDRO MIGUEL
person.givenName	Hugo
person.givenName	Paulo
person.identifier	K-5331-2015
person.identifier.ciencia-id	2711-E707-519C
person.identifier.ciencia-id	6313-B906-ED27
person.identifier.orcid	0000-0003-4835-5022
person.identifier.orcid	0000-0001-5762-4912
person.identifier.orcid	0000-0002-1788-651X
person.identifier.scopus-author-id	56261515100
person.identifier.scopus-author-id	25225486200
person.identifier.scopus-author-id	7006399225
rcaap.rights	openAccess	pt_PT
rcaap.type	article	pt_PT
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